The kinematic performance of real-time PPP services in challenging environment

•The TerraStar C-Pro provides the cm-level and reliable accuracies in a few minutes and offers 9 and 15 cm accuracies in 2D position and height components, respectively.•The CenterPoint RTX provides cm-level of accuracies roughly one hour after the first observation and provides 17 and 27 cm accuracy in 2D position and height components, respectively.•In the near future, the RT-PPP technologies will fully meet the expectations of the users in terms of precise, accurate, and reliable positioning solutions on a global scale. This study comparatively tests the performance of two real-time PPP services used in automated vehicle technologies, namely Trimble CenterPoint RTX and TerraStar-C Pro. This test focuses on the convergence time and the accuracy performance of these two services. The convergence time determination test was conducted in a partially obstructed environment in a static position of the autonomous vehicle. The convergence time to obtain the Trimble CenterPoint RTX service's cm-level accuracy is between 50 and 60 min after the cold-start, while this duration is nearly 2–3 min for TerraStar-C Pro. The accuracy test is conducted in a highly obstructed environment in kinematic mode. The results revealed that the Trimble CenterPoint RTX Technology provides 17 and 27 cm accuracy in 2D position and height components, respectively. In contrast, the TerraStar-C Pro service offers 9 and 15 cm accuracies in 2D position and height components.